Vector propulsion system of low-altitude airship

Abstract

The invention provides an innovative vector propulsion system of a low-altitude airship, aims to provide accurate attitude adjustment and path planning capabilities for the low-altitude airship in a complex space environment, and consists of a plurality of key components, comprising an executing mechanism, a power driving module, a vector rotating mechanism, a propeller connecting mechanism, a detecting module and a propeller control system. The core characteristic of the airship is that adjusted vector thrust can be applied to any direction in a three-dimensional space so as to respond to real-time attitude adjustment and control requirements, so that accurate vertical rising, lateral flying and rotating operation of the airship in a limited space are realized; due to the unique design, the influence of the thrust direction change on the gravity center of the airship is reduced to the maximum extent, and therefore it is ensured that the low-altitude airship keeps the stable posture, and meanwhile fine control is achieved; the system is further integrated with a set of independent control system so as to guarantee accurate output of thrust angles, meanwhile, the overall structure is light and handy, the system particularly meets the requirements of low-altitude small airships, and the maneuverability and adaptability of the system in a narrow space are enhanced.

Description

Technical Field

[0001] The present invention belongs to the field of airship propulsion technology, and more specifically, relates to a vector propulsion system designed for a low-altitude airship, which is intended to improve the navigation performance of the airship in a complex environment, especially in terms of maneuverability, stability and adaptability. Background Art

[0002] As an under-actuated system, the airship’s large size and highly nonlinear dynamic characteristics put forward complex technical requirements for the control system. Especially in low-altitude flight environments, the airship is significantly affected by wind disturbances, and the need for anti-interference capabilities is intensified. Its limited propulsion force further increases the difficulty of hovering and precise trajectory tracking control.

[0003] In the existing technology, the traditional propulsion device uses differential control to achieve the lifting and deflection of the airship, but this method has a large turning radius, complex structure and is difficult to control precisely. The existing propulsion device has a slow response speed, limited vector thrust angle, and its application on small airships will affect the center of gravity of the airship, further weakening its adjustment and maneuverability in a narrow space.

[0004] Therefore, there is an urgent need for a vector propulsion device that can operate stably in complex low-altitude environments, respond quickly and cause little disturbance to the airship, so as to improve the control performance and environmental adaptability of the airship. Summary of the invention

[0005] The present invention aims at the shortcomings of the prior art, combines the working environment requirements of low-altitude airships, solves some problems in the prior art, and provides an effective, accurate, low-disturbance full-angle vector propulsion system. The present invention is achieved through the following technical methods.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The object of the present invention is to provide a low-altitude airship vector propulsion system, the vector propulsion system of the low-altitude airship comprising:

[0008] The vector propulsion system includes an actuator, a thruster fixing module, a power driving module, a first vector tilting mechanism and a second vector tilting mechanism;

[0009] The actuator includes a propeller blade, a propeller gasket, and a fixing nut, which are installed on a motor connected to the inner ring main shaft;

[0010] The thruster fixing module includes a T-type coupling and a reinforcement cable, which are used to connect the first vector tilt mechanism to the low-altitude airship;

[0011] The power drive module includes a motor, a first steering gear and a second steering gear;

[0012] The first vector tilt mechanism comprises a thruster outer main shaft, a thruster reference column and a first electric slip ring, the first steering gear controls the thruster outer main shaft to rotate, the first vector tilt mechanism is connected to the second vector tilt mechanism through the thruster outer main shaft, and the first vector tilt mechanism is connected to the thruster fixing module through the thruster reference column;

[0013] The second vector tilt mechanism comprises a propeller outer frame, a second electric slip ring and an inner ring main shaft, the propeller outer frame is connected to the propeller outer main shaft; the servo side of the propeller outer frame is connected to the second electric slip ring, the servo side of the propeller outer frame is fixed with a second servo, and the second servo drives the inner ring main shaft to rotate at full angles;

[0014] The output end of the motor is connected to the actuator to provide power for the propeller blades to rotate, and the other end of the motor is fixed to the center of the inner ring main shaft.

[0015] Its further technical solution is:

[0016] Furthermore, the structure of the first vector tilt mechanism is as follows: one end of the thruster reference column is connected to an electric slip ring, the other end of the thruster reference column is a steering gear end, and is connected to a bearing fixing seat (1) in a non-rotatable manner, and the bearing fixing seat (1) and the bearing fixing seat (2) are fixed by a support nylon column; bearings are respectively fixed at both ends of the inner side of the thruster reference column, the steering gear end bearing of the thruster reference column is fixed by a tightening thrust ring, the inner sides of the two bearings are connected to the thruster outer main shaft, the steering gear nylon column thruster outer frame fixes the first steering gear, the first steering gear is connected to a small shaft through a steering disc, and the steering disc is connected to a gear (1), the gear (1) is meshed with the gear (2), and the gear (2) is connected to the thruster outer main shaft to drive it to rotate. Furthermore, the structure of the second vector tilt mechanism is as follows: the thruster outer frame is fixedly connected to the thruster outer main shaft of the first tilt mechanism, the slip ring side of the thruster outer frame is connected to the inner ring bearing fixing seat (slip ring side) and the electric slip ring, the inner side of the inner ring bearing fixing seat (slip ring side) is installed with a bearing connected to the inner ring main shaft; the servo side of the thruster outer frame is connected to the inner ring servo side support plate, the second servo is fixed by a nylon small column on the inner ring servo side, the second servo is connected to a small shaft (2) through a steering disc, and the small shaft (2) is connected to the inner ring main shaft to control its rotation.

[0017] Furthermore, the structure of the actuator is as follows: the output end of the motor is connected to the propeller gasket and the propeller blade, and is fixed using a fixing nut.

[0018] Furthermore, the vector propulsion system of the low-altitude airship also includes a detection module and a data acquisition and distribution module;

[0019] The detection module includes a gyroscope, an accelerometer and a magnetometer, which are connected to the inner ring main shaft. The detection module is fixed on the inner side of the center of the inner ring main shaft and opposite to the motor; the data acquisition and distribution module is connected to the power drive module and the detection module, collects the execution state parameter information of the vector propulsion device, outputs signals to control the power drive module, and controls the actuator to output thrust with vector information.

[0020] Furthermore, the components of the second vector tilt mechanism are symmetrically distributed around the central axis of the outer main shaft of the thruster, and satisfy the mass symmetry of two vertical planes (vertical plane A and horizontal plane B). Vertical plane A is along the central axis of the outer main shaft of the thruster and perpendicular to the plane of the outer frame of the thruster, and horizontal plane B is perpendicular to vertical plane A. The size and height of the propeller gasket coincide with the center of gravity of the inner ring main shaft, and the mass and position of the fixing nut, steering gear and electric slip ring are designed so that the center of gravity and the thrust center are located on the same central axis to maintain the torque balance under the thrust.

[0021] Furthermore, the structure of the thruster outer frame is composed of two inner and outer C-shaped plates connected by a cylindrical semi-arc in the middle, forming an I-shaped structure in section.

[0022] Furthermore, the circuit of the vector propulsion device comprises: a first section of circuit connected from the low-altitude airship body to the first electric slip ring, a second section of circuit connected from the first electric slip ring through the outer main shaft of the propeller and the flange seat to the second steering gear and the inner slip ring (2), and a third section of circuit connected from the inner slip ring (2) along the inner ring main shaft to the brushless motor and the detection module.

[0023] Furthermore, the thruster fixing module connects the airship frame and the thruster reference column in a T-shape to fix the vector propulsion system.

[0024] Furthermore, the first vector tilt mechanism uses the outer main shaft of the thruster as the output shaft to provide rotational torque for the second vector tilt mechanism; the second vector tilt mechanism uses the inner ring main shaft as the output shaft to provide rotational torque for the actuator.

[0025] Furthermore, the actuator transmits the torque output by the first vector tilt mechanism and the second vector tilt mechanism to the inner ring main shaft, so that the propeller blades fixed to the inner ring main shaft generate directional vector thrust after rotation.

[0026] Furthermore, the volume center position of the propeller blade coincides with the volume center position of the inner ring main axis.

[0027] Furthermore, the thruster control system is connected to the detection module using a signal line to obtain the acceleration, angular velocity and magnetic field direction information of the actuator in real time; is connected to the electric adjustment signal end using a signal line to control the output size of the motor in real time; and is connected to the first servo and the second servo respectively using signal lines to control the output angle of the servo.

[0028] Furthermore, the first vector tilt mechanism also includes a bearing, a fastening thrust ring, a bearing fixing seat (1), a bearing fixing seat (2), a support nylon column (1), a support nylon column (2), a steering gear nylon column (1), a steering gear nylon column (2), a small shaft (1), a gear (1), a gear (2) and a steering wheel (1). One end of the thruster reference column is connected to the first electric slip ring, and the other end is connected to the bearing fixing seat (1) in a non-rotatable manner. The inner ends of the thruster reference column are respectively installed with bearings (1) and bearings (2), and the bearings (2) are fixed by fastening thrust rings. The inner sides of the two bearings are connected to the outer main shaft of the thruster. The first vector tilt mechanism is connected to the propeller outer frame through a support nylon column (1) and a support nylon column (2), and fixes the first steering gear. The first steering gear is connected to a small shaft (1) through the steering gear nylon column (1) and the steering gear nylon column (2). The small shaft (1) is connected to a steering disc (1). The steering disc (1) is further connected to a gear (1). The gear (1) is meshed with a gear (2). The gear (2) is connected to the propeller outer main shaft to drive it to rotate.

[0029] Furthermore, the second vector tilt mechanism further comprises an inner ring bearing fixing seat (slip ring side), an inner ring slip ring side nylon small column, a bearing, a small shaft (2), a steering disc (2), an inner ring steering gear side support plate, an inner ring steering gear side nylon small column, and a second electric slip ring. The slip ring side of the thruster outer frame is connected to the inner ring bearing fixing seat (slip ring side) and the second electric slip ring, and a bearing is installed inside the inner ring bearing fixing seat (slip ring side) and connected to the inner ring main shaft; the steering gear side of the thruster outer frame is connected to the inner ring steering gear side support plate, and the second steering gear is fixed by the inner ring steering gear side nylon small column, and the second steering gear is connected to the small shaft (2) through the steering disc (2), and the small shaft (2) is connected to the inner ring main shaft to control the rotation of the inner ring main shaft.

[0030] Further, a low-altitude airship comprises four vector propulsion systems, each of which is the vector propulsion system as claimed in claim 1;

[0031] The four vector propulsion systems are symmetrically distributed on the surfaces of both sides of the long axis of the low-altitude airship, and are firmly installed on the low-altitude airship with an I-shaped frame through the connection with the airship frame and skin. The vector propulsion system realizes stable and continuous adjustment of the amplitude and direction of the thrust vector, is not limited by the ±180° direction, and the thrust application point is always consistent with the center of gravity of the system, ensuring the dynamic balance of the low-altitude airship attitude.

[0032] The present invention can achieve stable and continuous adjustment of the thrust vector amplitude and direction without ±180° direction restriction. The rotational motion is not affected by the wiring, and the center of gravity of the vector propulsion system of the low-altitude airship is always consistent with the thrust application point, ensuring the dynamic balance of the device during rotation. The main advantages of the present invention are:

[0033] 1) Omnidirectional vector thrust: Provides vector thrust in any direction in three-dimensional space, with stable and continuous adjustment of the thrust vector amplitude and direction, and is not limited to ±180° direction. It achieves precise attitude adjustment, enhances the vertical ascent, lateral flight and rotation capabilities of low-altitude airships in confined spaces, and enables airships to achieve efficient flight and precise control in complex environments;

[0034] 2) Center of gravity stability: The unique design significantly reduces the impact of thrust direction changes on the center of gravity of the airship. The system center of gravity is consistent with the thrust application point, ensuring the dynamic balance of the equipment during rotation. Through finite element analysis, alignment of the center of gravity and the thrust center, and optimization of mass distribution, attitude deviation and vibration problems are reduced;

[0035] 3) Structural design to ensure precise control: The data acquisition and distribution module ensures real-time acquisition of thrust angle information, the dual tilt mechanism ensures precise thrust output, and the lightweight structure is suitable for low-altitude small airships, improving maneuverability and adaptability in narrow spaces;

[0036] 4) Structural optimization: Finite element analysis is used to optimize the structure to ensure strength under high loads and reduce the weight of the equipment. The lightweight structure reduces the overall weight of the airship. The fixing method of the motor and the steering gear is optimized to enhance the stability of the equipment and the thrust output stability. The energy consumption is reduced and the load capacity is increased, so that the low-altitude airship can carry more equipment or cargo.

[0037] 5) Practicality and economy: The modular design and easy maintenance of the system reduce the operating cost and improve the practicality and economy of the system; BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The figure is a schematic structural diagram of the vector propulsion system of the low-altitude airship of the present invention.

[0039] Figure 2 It is an exploded view of the first tilting mechanism of the low-altitude airship of the present invention.

[0040] Figure 3 It is an exploded view of the second tilting mechanism of the low-altitude airship of the present invention.

[0041] Figure 4 It is a side view of the vector propulsion system of the low-altitude airship of the present invention.

[0042] Figure 5It is an overall view of the vector propulsion system of the present invention installed on the underground palace airship.

[0043] The meanings of the numbers in the figure are as follows: 10. First vector tilt mechanism 101. Thruster reference column 102. First electric slip ring 103. Thruster outer main shaft 104. Bearing fixing seat (1) 105. Bearing fixing seat (2) 106. Flange seat 107. Gear (1) 108. Gear (2) 109. Small shaft (1) 110. Steering plate (1) 111. Steering gear nylon column (1) 112. Steering gear nylon column (2) 113. Support nylon column (1) 114. Support nylon column (2) 115. Support nylon column (3) 116. Support nylon column (4) 117. Bearing (1) 118. Shaft Bearing (2) 119. Bearing (3) 120. Bearing (4) 121. Fastening thrust ring 20. Second vector tilt mechanism 201. Thruster outer frame 202. Inner ring main shaft 203. Steering plate (2) 204. Small shaft (2) 205. Nylon small column on the inner ring steering gear side 206. Fixed seat on the inner ring steering gear side 207. Support plate on the inner ring steering gear side 208. Bearing (5) 209. Bearing (6) 210. Fixed seat on the inner ring bearing slip ring side 211. Nylon small column on the inner ring slip ring side (1) 212. Nylon small column on the inner ring slip ring side (2) 213. Nylon small column on the inner ring slip ring side (3) 214. Second electric slip ring

[0044] 30. Actuator 301. First servo 302. Second servo 303. Brushless motor

[0045] 40. Power drive module 401. Propeller blades 402. Propeller gasket 403. Fixing nut

[0046] 5. Detection module

[0047] 60.Thruster fixing module 601.T-type coupling 602.Reinforcement cable

[0048] 7.Data collection and distribution module DETAILED DESCRIPTION

[0049] The preferred embodiments of the invention patent will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the invention patent, rather than for limiting the protection scope of the invention patent.

[0050] like Figure 1As shown, the vector propulsion device of the low-altitude airship of the present invention includes: a first vector tilt mechanism 10, a second vector tilt mechanism 20, an actuator 30, a power drive module 40, a detection module 5, a thruster fixing module 60 and a data acquisition and distribution module 7. The overall logical relationship is that the first vector tilt mechanism 10 transfers the thrust direction to the second vector tilt mechanism 20 by adjusting the rotation angle, so that the vector propulsion device can achieve full-angle thrust adjustment and meet the multi-dimensional attitude control requirements. The actuator 30 controls the steering gear and the brushless motor, applies torque to the tilt mechanism, adjusts the angle and thrust of the vector propulsion device, and realizes precise thrust output. The power drive module 40 transmits torque through the brushless motor to generate airship vector thrust. The power drive module 40 cooperates with the detection module 5. The detection module 5 monitors the attitude and motion data in real time, provides feedback to adjust the thrust, and ensures the stable operation of the system. The thruster fixing module 60 firmly installs the overall structure of the vector propulsion device to the airship frame to ensure the stability of the system. The data acquisition and distribution module 70 is responsible for collecting sensor information and sending control signals, so that each module can work together efficiently and quickly respond to environmental changes and control requirements during flight.

[0051] like Figure 5 As shown, the vector propulsion device of the low-altitude airship is connected to the airship frame and skin and fixed to the low-altitude airship with an I-shaped frame. The low-altitude airship is provided with, for example, multiple vector propulsion devices. Figure 5 The low-altitude airship includes four vector propulsion devices, in which every two groups of propulsion devices are symmetrically distributed on the surfaces on both sides of the long axis of the low-altitude airship.

[0052] like Figure 2 As shown, the first vector tilt mechanism 10 includes a thruster outer main shaft 103, a thruster reference column 101, a gear (1) 107 and a gear (2) 108. The first vector tilt mechanism 10 transmits the rotation vector angle to the second vector tilt mechanism 20 through the thruster outer main shaft 103, and is connected to the thruster fixing module 60 through the thruster reference column 101 to ensure the stability of the device.

[0053] Furthermore, the first vector tilt mechanism 10 also includes a first electric slip ring 102, a bearing (1) 117, a bearing (2) 118, a bearing (3) 119, a bearing (4) 120, a fastening thrust ring 121, a bearing fixing seat (1) 104, and a bearing fixing seat (2) 105. The two ends of the inner side of the thruster reference column 101 are respectively installed with a bearing (1) 117 and a bearing (2) 118. The bearing (2) 118 is fixed by a fastening thrust ring 121. The inner sides of the two bearings are connected to the thruster outer main shaft 103. One end of the thruster reference column 101 is connected to the first electric slip ring 102. The other end of the thruster reference column 101 is connected to the bearing fixing seat (1) 104 in a non-rotatable connection. In the face of a rapidly changing external environment (such as wind force changes), the vector propulsion device as the thrust output end of the airship needs to be adjusted in a very short time. In the case of high-speed rotation and frequent thrust adjustment, fixed locks, bearings, gears and other parts are added to ensure that no shaking or jamming occurs during attitude adjustment.

[0054] Furthermore, the first vector tilt mechanism 10 also includes a support nylon column (1) 113, a support nylon column (2) 114, a steering gear nylon column (1) 111, a steering gear nylon column (2) 112, a small shaft (1) 109, a gear (1) 107, and a steering disc (1) 110; the support nylon column (1) 113, the support nylon column (2) 114, the steering gear nylon column (1) 111, and the steering gear nylon column (2) 112 are used to connect the propeller outer frame 201 and fix the first steering gear 301, the first steering gear 301 is connected to the steering disc (1) 110 through the small shaft, and the steering disc is further connected to the gear (1) 107, the gear (1) 107 is meshed with the gear (2) 108, and the gear (2) 108 is connected to the propeller outer main shaft 103 to drive it to rotate. The compact design of the structure of the first vector tilt mechanism 10 enables it to change the thrust direction in a shorter time to improve maneuverability.

[0055] Furthermore, a slip ring design is adopted, and a first electric slip ring 102 is used to transmit power, sampling signals and control signals between the low-altitude airship body and the vector propulsion device, so as to avoid the entanglement of signal lines, power lines and other lines caused by the rotation of the first vector tilt mechanism 10 relative to the low-altitude airship body, so that the first vector tilt mechanism 10 can rotate freely without restriction. Figure 3 ) and its power line are connected and fixed to one side of the first electric slip ring 102 of the thruster reference column 101 (at Figure 2 The other end of the first electric slip ring 102 ( Figure 2 The line (in the middle, right side) passes through the hollow propeller outer main shaft 103 and the flange seat 106, passes through and is fixed to the outside of the propeller outer frame 201, and one end is connected to the second steering gear 302 ( Figure 3 In the middle, upper side), providing it with control signals and power, and the other end is connected to the inner slip ring (2) 214 ( Figure 3 The inner slip ring (2) 214 is fixed on the inner ring main shaft 202, and the other end of the inner slip ring (2) 214 is along the lower half of the inner ring main shaft 202, connecting the brushless motor 303 and the detection module 5 at the center of the inner ring main shaft 202. Through the two electric slip rings, the electronic circuits from the low-altitude airship body to the various parts of the vector propulsion device can move synchronously with the rotating parts, ensuring the continuity of power and signal transmission.

[0056] In addition, the system adopts an electric slip ring design. The electric slip ring is used to prevent the signal line and the power line from being entangled due to rotation, so that the vector propulsion device can rotate freely without restriction. The signal line and the power line of the brushless motor 303, the second servo 302 and the detection module 5 are connected and fixed through the first electric slip ring 102 of the thruster reference column 101. The other end ( Figure 2 The line (in the middle, right side) passes through the hollow propeller outer main shaft 103 and the flange seat 106, passes through the flange seat 106 near the propeller outer frame 201 and is fixed on the propeller outer frame 201. The line is further divided into two strands, one of which is connected to the second steering gear 302 to provide control signals and power to the second steering gear 302; the other is connected to the inner slip ring (2) 214 ( Figure 3 The inner slip ring (2) 214 is fixed on the inner ring main shaft 202, and the other end of the inner slip ring (2) 214 is along the lower half of the inner ring main shaft 202, further connected to the brushless motor 303 and the detection module 5. The electric slip ring realizes the synchronous movement of the line and the rotating parts, ensuring the stability and continuity of power and signal transmission. It not only effectively avoids signal interruption and equipment wear caused by line winding, ensures the full-angle unrestricted output of thrust, but also significantly improves the reliability of the system and its ability to work stably for a long time.

[0057] like Figure 3As shown, the second vector rotation mechanism 20 includes a propeller outer frame 201 and an inner ring main shaft 202. The propeller outer frame 201 is connected and fixed to the flange seat 106 through the propeller outer main shaft 103, and the propeller outer frame 201 and the propeller outer main shaft 103 rotate as a whole, thereby realizing the change of the propeller thrust direction. As the propeller outer main shaft 103 rotates, the propeller outer frame 201 rotates around the propeller outer main shaft 103. The propeller outer frame 201 is semicircular or circular, and the inner ring main shaft 202 is generally straight. The two ends of the inner ring main shaft 202 are respectively fixed relative to two points on the propeller outer frame 201, and the inner ring main shaft 202 is located in the plane defined by the propeller outer frame 201. Optionally, the straight line where the inner ring main shaft 202 is located passes through the center of the circle or semicircle of the propeller outer frame 201. The rotation of the outer main shaft 103 of the thruster is not subject to position constraints, so the thrust direction can be adjusted in any plane angle, so that the vector propulsion device can flexibly respond to complex attitude control requirements.

[0058] On this basis, the connection between the propeller outer frame 201 and the inner ring main shaft 202 further increases the rotational freedom of the system. Specifically, the inner ring main shaft 202 is not completely fixed to the propeller outer frame 201 and the propeller outer main shaft 103. The inner ring main shaft 202 itself can rotate, and drive the propeller 4 of the vector propulsion device to rotate with the straight line where the inner ring main shaft 202 is located as the rotation axis. The thrust direction formed by the propeller 4 is perpendicular to the blade rotation plane of the propeller 4. Through the rotation of the inner ring main shaft 202, the angle between the blade rotation plane of the propeller 4 and the plane defined by the propeller outer frame 201 can be variable and can be any angle. Thereby, the thrust direction formed by the propeller 4 is perpendicular to the straight line where the inner ring main shaft 202 is located, and the angle relative to the plane defined by the propeller outer frame 201 is variable.

[0059] Therefore, based on the rotation of the propeller outer frame 201 and the propeller outer main shaft 103, the thrust direction formed by the propeller 4 can realize additional rotation relative to the plane defined by the propeller outer frame 201 and the propeller outer main shaft 103, with the straight line where the inner ring main shaft 202 is located as the axis. This means that on the basis of the rotation adjustment within a single plane achieved by the propeller outer frame 201 and the propeller outer main shaft 103, the design of the inner ring main shaft 202 enables the vector propulsion device to have independent rotation capabilities around a straight line (the straight line where the inner ring main shaft 202 is located) within the rotatable plane. Through the combination of these two rotational degrees of freedom, the vector propulsion device can achieve full-angle and full-directional thrust adjustment in three-dimensional space. This design gives the entire vector propulsion device extremely high flexibility, allowing the vector propulsion device to adjust the thrust direction according to actual flight requirements, thereby providing thrust output in any direction in three-dimensional space. This multi-degree-of-freedom thrust control method not only improves the aircraft's control accuracy and stability, but also enables it to maintain good attitude control in various complex flight missions, adapt to changing environmental conditions, and effectively respond to possible emergencies.

[0060] For further information, see Figure 3 The second vector tilt mechanism 20 also includes an inner ring bearing steering gear side fixing seat 206, an inner ring steering gear side nylon small column 205, a second electric slip ring 214, a bearing (5) 208, a bearing (6) 209, a small shaft (2) 204, a steering wheel (2) 203, an inner ring steering gear side support plate 207, an inner ring slip ring side nylon small column (1) 211, an inner ring slip ring side nylon small column (2) 212, an inner ring slip ring side nylon small column (3) 213, and an inner ring bearing slip ring side fixing seat 210; a push rod 214; a push rod 215; a push rod 216; a push rod 217; a push rod 218; a push rod 219; a push rod 220; a push rod 221; a push rod 222; a push rod 223; a push rod 224; a push rod 225; a push rod 226; a push rod 227; a push rod 228; a push rod 229; a push rod 230; a push rod 231; a push rod 232; a push rod 233; a push rod 234; a push rod 235; a push rod 236; a push rod 237; a push rod 238; a push rod 239; a push rod 240; a push rod 241; a push rod 242; a push rod 243; a push rod 244; a push rod 245; a push rod 246; a push rod 247; a push rod 248; a push rod 249; a push rod 249; a push rod 241 The slip ring side of the thruster outer frame 201 is connected to the inner ring bearing slip ring side fixing seat 210 and the second electric slip ring 214, and the inner side of the inner ring bearing slip ring side fixing seat 210 is installed with a bearing connected to the inner ring main shaft 202; the steering gear side of the thruster outer frame 201 is connected to the inner ring steering gear side support plate 207, and the second steering gear 302 is fixed by the inner ring steering gear side nylon small column 205, and the second steering gear 302 is connected to the small shaft (2) 204 through the steering plate, and the small shaft (2) 204 is connected to the inner ring main shaft 202 to control its rotation.

[0061] Furthermore, in order to ensure the stability of the second vector tilt mechanism 20 during the rotation process and the accuracy of the thrust output, the center of gravity of the components at both ends is symmetrical relative to the central axis, and the mass at both ends is equal, so as to ensure the dynamic balance and thrust output accuracy of the rotation process. Specifically, the reference axis of mass symmetry is the central axis of the thruster outer main shaft 103, which is the main symmetry axis of the entire system, running through the thruster outer frame 201 and various components related thereto. The thruster outer frame 201, the thruster outer main shaft 103 and the components connected thereto must be distributed in a symmetrical form around the central axis according to certain rules, so that the mass at both ends is equal and the center of gravity is symmetrical on the central axis, so as to ensure that the system does not have obvious unbalanced torque caused by uneven mass when rotating.

[0062] Furthermore, for all components in the second vector tilt mechanism 20, the mass distribution must satisfy the symmetry of two vertical planes about the central axis. The first plane (referred to as the vertical plane A) passes through the thruster outer frame 201 along the central axis of the thruster outer main shaft 103, and the plane is perpendicular to the C-shaped plane formed on either side of the thruster outer frame 201. Vertical plane A balances the mass of the thruster outer frame 201 in the propulsion direction, ensuring that the vector propulsion device will not cause the center of gravity of the system to shift due to uneven weight distribution of components when the thrust changes. The second plane (referred to as the horizontal plane B) also passes through the thruster outer frame 201 along the central axis, but is perpendicular to the vertical plane A. The intersection of the two planes is the extension line of the central axis of the thruster outer main shaft 103. In addition, the center of gravity of the inner ring main shaft 202 passes through the extension line of the central axis of the thruster outer main shaft 103. In order to ensure that the second tilt mechanism 20 is symmetrical about the vertical plane A, the mass size of 207 and 210 and the height of the two nylon columns are adjusted to adjust the specific position of the second servo and the second electric slip ring 214, so that the overall mass of the equipment installed at both ends of the propeller outer frame 201 is equal and the center of gravity position is symmetrical about the vertical plane A. In order to ensure that the second tilt mechanism 20 is symmetrical about the vertical plane B, the size and height of the propeller gasket 402 are adjusted to coincide the rotation center of gravity of the installed propeller 401 with the center of gravity of the inner ring main shaft 202, and the mass size of the propeller gasket 402 and the fixing nut 403 are adjusted to make the overall center of gravity of the power drive module 40, the detection module 5 and the motor 303 on the vertical plane B, and the two planes A and B constrain the mass of the system from different directions, ensuring that the mass distribution in each plane is always symmetrical during the rotation of the propeller, and preventing the lateral torque and unbalanced rotation caused by the deviation of the center of gravity. This dual-plane symmetrical arrangement ensures that the center of gravity and thrust center of the system are always consistent on the central axis of the outer main shaft 103 of the propeller.

[0063] Further, the thrust center is defined as the geometric center of the propeller, that is, the point of action of the resultant force of all thrust vectors. By keeping the thrust center and the center of gravity of the second vector tilt mechanism 20 on the same central axis, it can be ensured that the torque of the system is balanced under the action of vector thrust, and the impact of thrust output in any direction on the overall center of gravity of the airship equipped with the vector propulsion device is effectively controlled. In other words, the application of thrust will not cause additional deflection torque, effectively control attitude deviation and vibration, thereby ensuring the stability of the airship attitude. The airship equipped with the vector propulsion device simplifies the control algorithm requirements during the movement process. Since the double-plane symmetrical mass distribution design eliminates the unbalanced torque, the calculation burden of the system during attitude control is greatly reduced. The control algorithm no longer needs to frequently compensate for the imbalance caused by the center of gravity offset, thereby reducing the complexity of the system response and improving the control accuracy and dynamic response performance. Especially in the multi-dimensional thrust adjustment and attitude change process, the design ensures the stability of the aircraft, makes the attitude adjustment more accurate, and the airship equipped with the vector propulsion device has a significantly improved ability to cope with complex tasks.

[0064] Furthermore, the propeller outer frame 201 is composed of two C-shaped plates and an arc-shaped connector bent in the circumferential direction, the curvature of the arc-shaped connector is the same as the circumferential curvature of the outer frame, and the two C-shaped plates are fixedly connected to form a "section I-shaped" structure. The C-shaped design of the propeller outer frame 201 reduces more mass than a complete circular structure or a square structure, and each C-shaped plate can be regarded as a "layer" of this structure, and the two layers are tightly connected by an arc-shaped connector, which improves the overall rigidity and structural strength. In detail, the two C-shaped plates are arranged on the inner and outer sides of the structure respectively, and are fixedly connected by an arc-shaped connector bent in the circumferential direction in the middle, so that the entire propeller outer frame 201 has a significant rigidity advantage. The morphology of the structure is similar to the section of an I-beam, in which the C-shaped plate provides the main bending resistance, and the cylindrical semi-arc in the middle plays the role of connection and support. This connection not only increases the relative rigidity between the two C-shaped plates, but also effectively distributes the load between different "layers", further improving the overall strength and deformation resistance of the propeller outer frame 201. Finite element analysis has verified that this double-layer structure can withstand the high load pressure caused by thrust fluctuations when the thrust direction and magnitude change. When the thrust direction changes, the close connection between the two "layers" of the C-type plate can effectively disperse the load, thereby avoiding structural fatigue caused by local stress concentration. The cylindrical semi-arc connection component plays a key role in this structure. Through its arc characteristics, it evenly transmits the force to the entire thruster frame, ensuring that the load is evenly distributed between the two C-type plates, reducing the risk of deformation or failure caused by uneven local force. While improving the overall load-bearing capacity of the thruster frame 201, this double-layer semi-circular ring structure is symmetrically arranged inside and outside to balance the mass distribution, ensuring that the center of gravity position remains stable when the thrust magnitude and direction change, thereby reducing additional torque and improving the accuracy and stability of attitude control. In addition, the structure is stable when carrying large thrust and coping with thrust fluctuations, evenly dispersing the load, avoiding local fatigue damage, and improving the long-term reliability and work efficiency of the system. Finite element analysis has verified its good structural stability and anti-deformation ability, enabling the vector propulsion device to maintain reliable performance under complex thrust conditions, improving the overall efficiency of the propulsion system, and reducing the complexity of the control algorithm, ensuring the high efficiency and stability of the system.

[0065] The propeller outer frame 201 partially surrounds the propeller blades, providing partial shielding for the rotating area of ​​the blades to prevent the blades from touching external objects during rotation.

[0066] like Figure 2 and Figure 3As shown, the actuator 30 includes a first steering gear 301, a second steering gear 302 and a brushless motor 303. The first steering gear 301 controls the rotation of the outer spindle 103 of the propeller through gear (1) 107 and gear (2) 108. The second steering gear 302 is fixed on the outer frame 201 of the propeller and transmits torque to the inner ring spindle 202, responsible for full-angle rotation control. The brushless motor 303 is fixed at the midpoint of the inner ring spindle 202 to provide direct power output.

[0067] Furthermore, in order to ensure the fixing stability of the first steering gear 301, the sizes and specifications of a series of parts including the steering gear nylon column (1) 111, the steering gear nylon column (2) 112, the small shaft (1) 109, the gear (1) 107 and the steering disc (1) 110 are strictly matched and adjusted according to the specific model of the first steering gear 301; similarly, in order to ensure the fixing stability of the second steering gear 302, the sizes and specifications of a series of parts including the inner ring bearing steering gear side fixing seat 206, the inner ring steering gear side nylon small column 205, the steering disc (2) 203 and the inner ring steering gear side support plate 207 are measured and adjusted in detail according to the specific model of the second steering gear 302. Specifically, the parameters such as the outer dimensions, mounting hole position, mounting depth and connector diameter of the steering gear, as well as the tolerance and matching clearance of each component are ensured to be accurate to prevent loosening and displacement, ensure that there is no gap or looseness in the torque transmission path, achieve close combination and efficient transmission, thereby improving the operating stability and transmission efficiency of the overall system.

[0068] like Figure 4 As shown, the power drive module 40 includes a propeller gasket 402, a propeller blade 401 and a fixing nut 403. These components are sequentially connected and firmly mounted on the brushless motor 303. By driving the brushless motor 303, the output torque generated is transmitted to the propeller blade 401, thereby providing the necessary thrust for the vector propulsion system of the low-altitude airship, ensuring that the propulsion system can work stably and effectively.

[0069] Furthermore, the difference between the actuator 30 (including the first steering gear 301, the second steering gear 302 and the brushless motor 303) and the power drive module 40 (including the propeller gasket 402, the propeller blade 401 and the fixing nut 403) lies in the difference in their functional positioning and structural composition. The actuator 30 is mainly responsible for the control of the thrust direction and magnitude, and contains multiple components to achieve multi-dimensional rotation and positioning control and spherical airship vector thrust intensity control. Through the coordination of the first steering gear 301 and the second steering gear 302, the actuator 30 can achieve all-round rotation control of the vector propulsion device: the first steering gear 301 controls the rotation of the outer main shaft through gear transmission, and the second steering gear 302 transmits torque through the inner ring main shaft to complete the adjustment of the vector propulsion device at different angles. The brushless motor 303 is directly fixed on the inner ring main shaft 202, providing power and controlling the thrust magnitude through output power. The mechanism includes multiple components, and the size and specifications of each component are adjusted according to their stability and fit to ensure high-precision and high-reliability control during operation. In contrast, the role of the power drive module 40 is focused on the results of direct thrust generation. The module drives the propeller blades 401 through a brushless motor 303, and is fixed by a stable connection between the propeller gasket 402 and the fixing nut 403 to ensure stability when transmitting torque. The power drive module directly forms the system to provide the thrust required for advancement or hovering, ensuring the effectiveness and stability of the vector propulsion system without participating in specific direction or size control tasks.

[0070] like Figure 4 As shown, the detection module 5 is fixed at the center of the inner ring main shaft 202 and is opposite to the power drive module 40. The detection module 5 integrates a gyroscope, an accelerometer and a magnetometer, which are used to collect data such as the angle and angular velocity of the device during flight in real time and provide them to the control system to achieve precise attitude control and thrust adjustment. By detecting the attitude change, thrust size and direction of the device, the detection module can instantly obtain these data and quickly feed them back to the control system to analyze the movement of the device, so as to adjust the direction and size of the thrust in time, especially when dealing with rapid changes in the external environment (such as wind changes), to ensure that the system can respond quickly.

[0071] like Figure 1 As shown, the thruster fixing module 60 includes a T-type coupling 601 and a reinforcement cable 602. The T-type coupling 601 and the reinforcement cable 602 fix the thruster reference column 101 of the first vector tilt mechanism 10, and the other end is firmly connected to the airship body. The T-type coupling 601 is fixed to the airship frame, and the reinforcement cable 602 is connected to the airship skin, ensuring that the vector propulsion device is firmly installed on the airship, thereby providing stability and safety of the overall structure.

[0072] like Figure 5As shown, the data acquisition and distribution module 7 is the core data processing unit of the airship vector propulsion control system, and is usually installed in the pod of an aircraft such as an airship. Its installation position can be flexibly adjusted according to the specific aircraft structure, and there is no requirement for a fixed installation position. The data acquisition and distribution module 7 receives and sends data through the signal line transmitted by the first electric slip ring 102, and is responsible for receiving and processing sensor information such as acceleration, angular velocity and magnetic field direction transmitted by the detection module 5, while collecting the angle change, attitude and position information of the vector propulsion device in real time and transmitting it to the airship controller. In addition, the data acquisition and distribution module 7 is also responsible for receiving the control instructions issued by the airship controller, and solving them into the steering gear rotation angle control signal and the motor thrust signal, and then transmitting the solved control signal to the steering gear and the brushless motor through the signal line to achieve precise control of the propulsion device. Through this data acquisition, transmission and distribution mechanism, the data acquisition and distribution module 7 ensures efficient collaboration between the functional modules, so that the system can quickly respond to environmental changes and control requirements during flight.

[0073] The device uses a high-torque digital aircraft model servo, where "high torque" refers to a larger output torque than the standard model, usually greater than 40kg·cm (depending on the model), to ensure that the attitude can be stably controlled under heavy load. The brushless motor uses a high-torque, low-KV aircraft model brushless motor, usually about 340KV, which achieves robust vector thrust control through lower speed and higher output torque to meet complex flight requirements; the detection module is installed on the opposite side of the brushless motor to meet the function of collecting information such as the size of the propulsion device's turning angle, angular acceleration, and angle with the ground; the servo, brushless motor, and detection module can all be regulated by the power module through batteries such as aircraft model lithium batteries to provide energy.

[0074] The working process of the vector propulsion device of the low-altitude airship in the present invention is as follows: the detection module 5 collects acceleration, angular velocity and magnetic field direction information and transmits it to the data acquisition and distribution module 7; the data acquisition and distribution module 7 receives the angle change, attitude and position information of the current vector propulsion device and sends it to the airship controller; the controller of the airship calculates the vector angle expected values ​​and motor speed expected values ​​of the first and second vector tilt mechanisms according to the real-time attitude change and the planned hovering, trajectory tracking and other control targets; the data acquisition and distribution module 7 solves them into the steering gear rotation angle control signal and the motor thrust signal; the signal is transmitted to the steering gear and the brushless motor through the signal line, and the thrust with vector angle information is output.

[0075] The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any modification or substitution made by any technician in this field within the technical scope disclosed in the present invention should be deemed to be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the scope of the claims.

Claims

1. A vector propulsion system for a low-altitude airship, characterized in that , The vector propulsion system includes an actuator, a thruster fixing module, a power driving module, a first vector tilting mechanism and a second vector tilting mechanism; The actuator includes a propeller blade, a propeller gasket, and a fixing nut, which are installed on a motor connected to the inner ring main shaft; The thruster fixing module includes a T-type coupling and a reinforcement cable, which are used to connect the first vector tilt mechanism to the low-altitude airship; The power drive module includes a motor, a first steering gear and a second steering gear; The first vector tilt mechanism comprises a thruster outer main shaft, a thruster reference column and a first electric slip ring, the first steering gear controls the thruster outer main shaft to rotate, the first vector tilt mechanism is connected to the second vector tilt mechanism through the thruster outer main shaft, and the first vector tilt mechanism is connected to the thruster fixing module through the thruster reference column; The second vector tilt mechanism comprises a propeller outer frame, a second electric slip ring and an inner ring main shaft, the propeller outer frame is connected to the propeller outer main shaft; the servo side of the propeller outer frame is connected to the second electric slip ring, the servo side of the propeller outer frame is fixed with a second servo, and the second servo drives the inner ring main shaft to rotate at full angles; The output end of the motor is connected to the actuator to provide power for the propeller blades to rotate, and the other end of the motor is fixed to the center of the inner ring main shaft.

2. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The structure of the first vector tilt mechanism is as follows: one end of the thruster reference column is connected to an electric slip ring, the other end of the thruster reference column is a steering gear end, and is connected to a first bearing fixing seat (105) in a non-rotatable connection mode, and the first bearing fixing seat (105) and the second bearing fixing seat (106) are fixed by a support nylon column; bearings are fixed at both ends of the inner side of the thruster reference column, the steering gear end bearing of the thruster reference column is fixed by a tightening thrust ring, the inner sides of the two bearings are connected to the thruster outer main shaft, the steering gear nylon column thruster outer frame fixes the first steering gear, the first steering gear is connected to a first small shaft (109) through a steering disc, and the steering disc is further connected to a gear (107), the first gear (107) is meshed with a second gear (108), and the second gear (108) is connected to the thruster outer main shaft to drive it to rotate.

3. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The structure of the second vector tilt mechanism is as follows: the thruster outer frame is fixedly connected to the thruster outer main shaft of the first tilt mechanism; the slip ring side of the thruster outer frame is connected to the inner ring bearing slip ring side fixing seat and the electric slip ring; the inner side of the inner ring bearing slip ring side fixing seat is installed with a bearing connected to the inner ring main shaft; the steering gear side of the thruster outer frame is connected to the inner ring steering gear side support plate; the second steering gear is fixed by a nylon small column on the inner ring steering gear side; the second steering gear is connected to a second small shaft (204) through a steering disc; the second small shaft (204) is connected to the inner ring main shaft to control its rotation.

4. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: It also includes a detection module and a data acquisition and distribution module; The detection module includes a gyroscope, an accelerometer and a magnetometer, which are connected to the inner ring main shaft. The detection module is fixed inside the center of the inner ring main shaft and opposite to the motor; The data acquisition and distribution module is connected to the power drive module and the detection module, collects the execution state parameter information of the vector propulsion device, outputs signals to control the power drive module, and controls the actuator to output thrust with vector information.

5. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The components of the second vector tilt mechanism are symmetrically distributed around the central axis of the outer main shaft of the thruster, and satisfy the mass symmetry of the vertical plane A and the horizontal plane B; the vertical plane A is along the central axis of the outer main shaft of the thruster and is perpendicular to the plane of the outer frame of the thruster, and the horizontal plane B is perpendicular to the vertical plane A; the size and height of the propeller gasket coincide with the center of gravity of the inner ring main shaft, and the mass and position of the fixing nut, the servo and the electric slip ring are designed, and the center of gravity and the thrust center are located on the same central axis to maintain the torque balance under the thrust.

6. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The structure of the thruster outer frame is composed of two inner and outer C-shaped plates connected by a cylindrical semi-arc in the middle to form an I-shaped structure in section.

7. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The circuit of the vector propulsion device includes: a first section of the circuit connected from the low-altitude airship body to the first electric slip ring, a second section of the circuit connected to the second servo and the inner slip ring after passing through the outer main shaft of the propeller and the flange seat, and a third section of the circuit connected from the inner slip ring along the inner ring main shaft to the brushless motor and the detection module.

8. The vector propulsion system for a low-altitude airship as claimed in claim 1, characterized in that: The first vector tilt mechanism also includes a bearing, a fastening thrust ring, a first bearing fixing seat (104), a second bearing fixing seat (105), a first support nylon column (113), a second support nylon column (114), a first steering gear nylon column (111), a second steering gear nylon column (112), a first small shaft (109), a first gear (107), a second gear (108) and a first steering disc (110); one end of the thruster reference column is connected to the first electric slip ring, and the other end is connected to the first bearing fixing seat (104) in a non-rotatable manner, and the first bearing (117) and the second bearing (118) are respectively installed at the two ends of the inner side of the thruster reference column. The second bearing (112) is fixed by a fastening thrust ring, and the inner sides of the two bearings are connected to the outer main shaft of the propeller; the first vector tilt mechanism is connected to the outer frame of the propeller through a first support nylon column (113) and a second support nylon column (114), and fixes the first steering gear; the first steering gear is connected to the first small shaft (109) through a first steering gear nylon column (111) and a second steering gear nylon column (112); the first small shaft (109) is connected to the first steering disc (110); the first steering disc (110) is further connected to the first gear (107); the first gear (107) is meshed with the second gear (108); the second gear (108) is connected to the outer main shaft of the propeller to drive it to rotate.

9. The vector propulsion system for a low-altitude airship according to any one of claims 1 to 8, characterized in that: The second vector tilt mechanism further comprises an inner ring bearing slip ring side fixing seat, an inner ring slip ring side nylon column, a bearing, a second small shaft (204), a second steering disc (203), an inner ring steering gear side support plate, an inner ring steering gear side nylon column, and a second electric slip ring; the slip ring side of the thruster outer frame is connected to the inner ring bearing slip ring side fixing seat and the second electric slip ring, the inner side of the inner ring bearing slip ring side fixing seat is equipped with a bearing and is connected to the inner ring main shaft; the steering gear side of the thruster outer frame is connected to the inner ring steering gear side support plate, the second steering gear is fixed by the inner ring steering gear side nylon column, the second steering gear is connected to the second small shaft (204) by the second steering disc (203), and the second small shaft (204) is connected to the inner ring main shaft to control the rotation of the inner ring main shaft.

10. A low-altitude airship, characterized in that , comprising 4 vector propulsion systems, each of which is a vector propulsion system as described in any one of claims 1 to 9; The four vector propulsion systems are symmetrically distributed in pairs on the surfaces on both sides of the long axis of the low-altitude airship, and are firmly installed on the low-altitude airship with an I-shaped frame through connection with the airship frame and skin; the vector propulsion system realizes stable and continuous adjustment of the amplitude and direction of the thrust vector, is not limited by the ±180° direction, and the thrust application point is always consistent with the center of gravity of the system, ensuring the dynamic balance of the low-altitude airship's attitude.

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